DE102016212149A1 - Driver assistance system for a vehicle - Google Patents

Abstract

The invention relates to a driver assistance system (100) for a vehicle (200) for supporting a lane change of the vehicle (200) from a traffic lane (201) to an adjacent traffic lane (203), with a processor (101) which is designed for a driving situation of the vehicle (200), and a communication interface (103), which is configured to receive V2X communication data of another vehicle (205) on the adjacent lane (203), wherein the V2X communication data of the further vehicle (205) a Define driving situation of the other vehicle (205), wherein the processor (101) is formed, based on the driving situation of the vehicle (200) and the driving situation of the other vehicle (205) a lane change recommendation for changing from the lane (201) to the adjacent Lane (203) for the vehicle (200) to determine.

Description

TECHNICAL AREA

The present invention relates to the field of driver assistance systems for vehicles, in particular to an override assistance system for a vehicle.

TECHNICAL BACKGROUND

Car2X systems allow wireless transmission of messages between different road users. Some of these messages (e.g., the Cooperative Awareness Message, CAM) may include information about the current position, direction, speed, and dimensions of the transmitting vehicle. On the basis of this information, applications are possible with which the traffic flow can be optimized and / or drivers can be provided with information and, if necessary, made aware of dangerous situations.

When overtaking on roads with only one lane per direction, a vehicle uses the lane of oncoming traffic. For safe overtaking, a driver of the overtaking vehicle must observe traffic on the oncoming lane past the vehicle in front of the vehicle and estimate whether there is sufficient space for overtaking and overtaking without jeopardizing or hindering himself or other vehicles. Due to the high relative speeds of oncoming vehicles, this decision is often made in a very short time and under sometimes poor visibility conditions, for example due to a vehicle in front. It is often difficult to correctly estimate the speed and distance of oncoming vehicles, or your own speed and acceleration.

When changing lanes on roads with several lanes per direction of travel, for example in the context of an overtaking process, the driver, e.g. observe the rear-side traffic over the inside and outside mirrors, and assess whether there is enough space to pull out without hindering other vehicles. Especially on motorways and other highways, the relative speeds can be very high. A proper estimation of traffic at the back is often difficult for this reason.

Known driver assistance systems can drive vehicles in the immediate vicinity, e.g. in the "blind spot", by means of vehicle sensors, e.g. Ultrasound, detect and warn accordingly. However, fast moving and more distant vehicles can often not be detected with these systems.

DESCRIPTION OF THE INVENTION

It is therefore the object of the present invention to provide an efficient concept for a vehicle to assist a lane change.

This object is solved by the subject matters of the independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

According to a first aspect, the invention relates to a driver assistance system for a vehicle for supporting a lane change of the vehicle from one lane to an adjacent lane, with a processor, which is designed to detect a driving situation of the vehicle, a communication interface, which is formed, V2X- Receive communication data of another vehicle on the adjacent lane, wherein the V2X communication data of the other vehicle define a driving situation of the other vehicle, wherein the processor is formed on the basis of the driving situation of the vehicle and the driving situation of the other vehicle a lane change recommendation for changing the lane to determine the adjacent lane for the vehicle. This provides the advantage that a recommendation for a safe and conflict-free lane change based on a current traffic situation can be determined. The driver assistance system can indicate to a driver of the vehicle by means of the lane change recommendation whether a safe lane change is currently possible. Furthermore, the driver can be warned due to a lack of the lane change recommendation or a warning message generated by the driver assistance system, if a safe lane change is currently not possible. Furthermore, autonomous lane changes can be suppressed, and to increase safety, an autonomous lane change can only be released if a situation via V2X is also classified as non-critical.

The lane and the adjacent lane may be laid out to guide traffic in the same direction of travel, for example on a multi-lane road. In this case, the further vehicle moves in the same direction of travel as the vehicle and is located before a lane change of the vehicle, for example in the direction of travel behind the vehicle. Furthermore, the further lane may be an oncoming lane. In this case, the other vehicle moves counter to the direction of travel of the vehicle and is before a lane change of the vehicle, for example, in the direction of travel in front of the vehicle and comes to this. Lanes or lanes may be marked by road markings such as lane boundaries, Lane boundaries or guidelines.

The vehicle and the further vehicle may each be a motor vehicle, in particular a multi-lane motor vehicle such as a passenger car (PKW), a truck (truck) or a bus, or a single-lane motor vehicle such as a motorcycle. Furthermore, the vehicle and the further vehicle can each be designed for autonomous or highly automated locomotion.

The vehicle and the further vehicle can each be equipped with a V2X communication system, via which periodically transmitted V2X communication data. The transmitted V2X communication data can each contain information about the current driving situation of the vehicle or the further vehicle.

The driver assistance system can be integrated into the V2X communication system of the vehicle, or implemented as a V2X communication system of the vehicle.

The communication interface may be a wireless V2X (vehicle-to-X) communication interface or Car2X communication interface. The communication interface may be connected to at least one vehicle antenna, and may be configured to receive and / or transmit V2X communication data. The communication interface may be connected to a V2X communication chip of the vehicle, or integrated into a V2X communication chip of the vehicle.

The processor may be integrated into a control unit (electronic control unit, ECU) of the vehicle, or may be implemented as a control unit of the vehicle. The processor may further include a microprocessor or integrated circuit, or implemented as a microprocessor or integrated circuit.

The processor may be communicatively connected to the communication interface to receive the V2X communication data defining the driving situation of the further vehicle. The processor may be configured to evaluate the V2X communication data in order to detect the driving situation of the further vehicle. The processor and the communication interface can each be connected to a communication network of the vehicle, in particular a vehicle bus.

According to one embodiment, the detected driving situation of the vehicle and the driving situation of the further vehicle each include a speed, an acceleration, a position, a movement direction and / or an extent of the vehicle or of the further vehicle. The respective driving situations may be in the form of communication data such as position data, speed data, acceleration data.

According to one embodiment, the processor is designed to determine a probable change in distance of the vehicle and of the further vehicle on the basis of the detected driving situation of the vehicle and the driving situation of the further vehicle, wherein the processor is designed to determine the lane change recommendation on the basis of the probable change in distance , This achieves the advantage that the processor can efficiently determine the lane change recommendation based on the estimated or extrapolated future positions of the vehicle and the other vehicle.

According to one embodiment, the processor is designed to determine a probability of conflict between the vehicle and the further vehicle during the lane change of the vehicle to the adjacent lane on the basis of the determined change in distance of the vehicle and of the further vehicle. As a result, the advantage is achieved that the lane change recommendation can be determined efficiently.

The determined conflict probability may indicate the probability of a conflict between the vehicle and the further vehicle. A conflict between the vehicle and the other vehicle may be present if the distance between the vehicle and the further vehicle during the lane change of the vehicle falls below a distance threshold value, in particular if the vehicle is next to the other vehicle when changing lanes. The distance threshold may be speed dependent.

According to one embodiment, the processor is configured to generate the lane change recommendation if the conflict probability falls below a threshold value. As a result, the advantage is achieved that the lane change recommendation can be determined efficiently. The threshold can be 0% or nearly 0%. In other words, the processor can be designed to generate a lane change recommendation only if a conflict with the other vehicle is ruled out.

In one embodiment, the processor is configured to generate a warning message when the conflict probability exceeds the threshold. This achieves the advantage that the driver of the vehicle can be warned efficiently if a safe lane change is not possible.

According to one embodiment, the processor is configured to determine an acceleration recommendation on the basis of the anticipated change in distance of the vehicle and of the further vehicle, wherein the acceleration recommendation defines an acceleration of the vehicle during the lane change and / or immediately after the lane change, in which the conflict probability is the threshold value below. As a result, the advantage is achieved that a driving recommendation for the driver to avoid a conflict with the other vehicle can be generated.

According to one embodiment, the processor is configured, in response to the determination of a conflict probability, which is greater than the threshold value, to determine a waiting time on the basis of the respective driving situation of the vehicle and the further vehicle, in particular a respective speed of the vehicle and the further vehicle , wherein the waiting time defines a probable time interval, after the expiration of which the conflict probability falls below the threshold value again. As a result, the advantage is achieved that a driving recommendation for the driver to avoid a conflict with the other vehicle can be generated.

According to one embodiment, the vehicle, in particular before the lane change, moves behind a preceding vehicle in the lane, wherein the communication interface is adapted to receive V2X communication data of the preceding vehicle in the lane, wherein the V2X communication data of the preceding vehicle, a driving situation of Define leading vehicle, wherein the processor is adapted to take into account the driving situation of the preceding vehicle in the determination of the lane change recommendation. As a result, the advantage is achieved that the lane change recommendation can be efficiently generated even in overtaking situations taking into account the vehicle to be overtaken.

The preceding vehicle may be a motor vehicle, in particular a multi-lane motor vehicle such as a passenger car (PKW), a truck (truck) or a bus, or a single-lane motor vehicle such as a motorcycle. Furthermore, the preceding vehicle can be designed for autonomous or highly automated locomotion.

The preceding vehicle may be equipped with a V2X communication system via which periodic V2X communication data is transmitted. The transmitted V2X communication data may each include information about the current driving situation of the vehicle in front.

According to one embodiment, the processor is configured, in response to the determination of a conflict probability, which is greater than the threshold, on the basis of the detected driving situation of the vehicle and the driving situation of the preceding vehicle, a speed recommendation for the vehicle to follow, in particular conflict-free sequences of the vehicle ahead during the waiting period. Thereby, the advantage is achieved that a driving recommendation for the driver to avoid a conflict with the other vehicle and the vehicle in front can be generated.

According to one embodiment, the lane change of the vehicle to the adjacent lane occurs in the context of overtaking the preceding vehicle, wherein the processor is configured to determine a length of a passing distance for overtaking the preceding vehicle on the basis of the driving situation of the vehicle and the driving situation of the preceding vehicle wherein the processor is further configured to take into account the length of the overhaul distance in the determination of the lane change recommendation. As a result, the advantage is achieved that the lane change recommendation can be efficiently generated even in overtaking situations taking into account the vehicle to be overtaken and the overtaking distance.

The driving situations of the vehicle and of the preceding vehicle may each include a length and / or a vehicle type, for example a car or truck, of the vehicle and of the vehicle in front. The processor may consider the length and vehicle type of the vehicles in determining the overtaking distance.

The lane change recommendation can be a passing recommendation. The processor can determine the lane change recommendation both when changing lanes to skip before overtaking, and when changing lanes for reclosing after overtaking.

According to one embodiment, the driver assistance system comprises a display for displaying the lane change recommendation. Thereby, the advantage is achieved that a driver of the lane change recommendation can be displayed efficiently. The display may also indicate a warning message if the conflict probability exceeds the threshold. The display may also include the waiting time, the acceleration recommendation and / or the Show speed recommendation. The processor may be configured to control the display for displaying the lane change recommendation and / or the warning message. The display may include at least one (more) colored light, a display, in particular a display in a dashboard of the vehicle, or a head-up display. The display may be part of a vehicle system, such as a navigation system, of the vehicle.

According to one embodiment, the processor can be connected to a communication network of the vehicle, in particular to a vehicle bus, wherein the processor is designed to receive communication data, in particular sensor data, via the communication network and to detect the driving situation of the vehicle on the basis of the received communication data. As a result, the advantage is achieved that the processor can efficiently detect the driving situation of the vehicle. Vehicle sensors, such as wheel speed sensors or proximity sensors, which are designed to generate the communication data and transmit them to the processor, can be connected to the communications network.

For example, the speed, the acceleration and the position of the vehicle are respectively detected by one of the vehicle sensors and transmitted via the communication network to the processor. The position of the vehicle is detected, for example, by a GNSS sensor of a navigation device of the vehicle and can be communicated to the processor in terms of communication technology, in particular via the communications network.

According to one embodiment, the processor is configured to generate V2X communication data based on the detected driving situation of the vehicle, the V2X communication data defining the driving situation of the vehicle, wherein the processor is configured to control the communication interface for transmitting the generated V2X communication data. As a result, the advantage is detected that other vehicles with a corresponding V2X communication interface can detect the driving situation of the vehicle, for example, to evaluate this in turn with a driver assistance system.

According to a second aspect, the invention relates to a method of supporting lane change of a vehicle from one lane to an adjacent lane, detecting a driving situation of the vehicle, receiving V2X communication data of another vehicle on the adjacent lane, the V2X communication data further Vehicle define a driving situation of the other vehicle, determining the lane change recommendation for the vehicle to change from the lane to the adjacent lane on the basis of the detected driving situation of the vehicle and the driving situation of the other vehicle. This provides the advantage that a recommendation for a safe and conflict-free lane change can be determined efficiently on the basis of a current traffic situation.

The method can be carried out by means of the driver assistance system according to the invention. Further features of the method emerge directly from the functionality of the driver assistance system according to the invention.

According to a third aspect, the invention relates to a vehicle, in particular a motor vehicle, with a driver assistance system according to the first aspect of the invention.

The invention can be implemented in hardware and / or software.

DESCRIPTION OF THE FIGURES

Further embodiments will be explained with reference to the accompanying figures. Show it:

1 a schematic representation of a driver assistance system for a vehicle;

2a a schematic representation of a vehicle with the driver assistance system 1 in a traffic situation;

2 B a schematic representation of a vehicle with the driver assistance system 1 in another traffic situation; and

3 a flowchart of a method for supporting a lane change of a vehicle.

DETAILED DESCRIPTION OF THE FIGURES

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. It should be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention. The following detailed description is therefore not to be understood in a limiting sense. Further, it should be understood that the features of the various embodiments described herein are combined unless otherwise specified.

Aspects and embodiments will be described with reference to the drawings, wherein like reference numerals generally refer to like elements. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects of the invention. However, it will be apparent to one skilled in the art that one or more aspects or embodiments may be practiced with a lesser degree of specific details. In other instances, well-known structures and elements are shown in schematic form to facilitate describing one or more aspects or embodiments. It is understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention.

Furthermore, while a particular feature or aspect of an embodiment may have been disclosed in terms of only one of several implementations, such feature or aspect may be combined with one or more other features or aspects of the other implementations, as for a given or particular one Application may be desirable and advantageous. Furthermore, to the extent that the terms "contain," "have," "with," or other variants thereof are used in either the detailed description or the claims, such terms are intended to include such terms in a manner similar to the term "comprising." The terms "coupled" and "connected" may have been used along with derivatives thereof. It should be understood that such terms are used to indicate that two elements independently cooperate or interact with each other, whether they are in direct physical or electrical contact or are not in direct contact with each other. In addition, the term "exemplary" is to be considered as an example only, rather than the term of best or optimum, and the following description is therefore not intended to be in a limiting sense.

1 shows a schematic representation of a driver assistance system 100 for a vehicle to assist lane change of the vehicle from one lane to an adjacent lane, according to an embodiment.

The driver assistance system 100 includes a processor 101 , which is designed to detect a driving situation of the vehicle, a communication interface 103 configured to receive V2X communication data of another vehicle on the adjacent lane, the V2X communication data of the another vehicle defining a driving situation of the another vehicle, wherein the processor 101 is formed, on the basis of the driving situation of the vehicle and the driving situation of the other vehicle to determine a lane change recommendation for changing from the lane to the adjacent lane for the vehicle.

The lane and the adjacent lane may be laid out to guide traffic in the same direction of travel, for example on a multi-lane road. In this case, the further vehicle moves in the same direction of travel as the vehicle and is located before a lane change of the vehicle, for example in the direction of travel behind the vehicle. Furthermore, the further lane may be an oncoming lane. In this case, the other vehicle moves counter to the direction of travel of the vehicle and is before a lane change of the vehicle, for example, in the direction of travel in front of the vehicle and comes to this. Lanes or lanes may be marked by road markings such as lane boundaries, lane boundaries or guidelines.

The vehicle and the further vehicle may each be a motor vehicle, in particular a multi-lane motor vehicle such as a passenger car (PKW), a truck (truck) or a bus, or a single-lane motor vehicle such as a motorcycle. Furthermore, the vehicle and the further vehicle can each be designed for autonomous or highly automated locomotion.

The vehicle and the further vehicle can each be equipped with a V2X communication system, via which periodically transmitted V2X communication data. The transmitted V2X communication data can each contain information about the current driving situation of the vehicle or the further vehicle.

The driver assistance system 100 can be integrated into the V2X communication system of the vehicle, or implemented as a V2X communication system of the vehicle.

The communication interface 103 may be a wireless V2X (vehicle-to-X) communication interface or Car2X communication interface. The communication interface 103 may be connected to at least one vehicle antenna, and may be for receiving and / or broadcasting be formed by V2X communication data. The communication interface 103 may be connected to a V2X communication chip of the vehicle, or integrated into a V2X communication chip of the vehicle.

The processor 101 may be integrated into a control unit (electronic control unit, ECU) of the vehicle, or may be implemented as a control unit of the vehicle. The processor 101 may also include a microprocessor or integrated circuit, or implemented as a microprocessor or integrated circuit.

The processor 101 can communicate with the communication interface 103 be connected to receive the V2X communication data defining the driving situation of the other vehicle. The processor 101 can be configured to evaluate the V2X communication data to detect the driving situation of the other vehicle. The processor 101 and the communication interface 103 can each be connected to a communication network of the vehicle, in particular a vehicle bus.

The driving situation of the vehicle and the driving situation of the further vehicle may each include a speed, an acceleration, a position, a direction of movement and / or an extent of the vehicle or of the further vehicle. The respective driving situations may be in the form of communication data, for example position data, speed data or acceleration data.

The driver assistance system 100 in 1 also includes a display 105 to display the lane change recommendation.

The ad 105 may indicate further messages, for example a warning message in the event of a risk of conflict with another vehicle when changing lanes, as well as a waiting time until the lane change, a speed recommendation during the waiting time and / or an acceleration recommendation when changing lanes.

The ad 105 may include at least one (more) colored light, a display, in particular a display in a dashboard of the vehicle, or a head-up display. The ad 105 may be part of a vehicle system, such as a navigation system, of the vehicle.

The processor 101 can be connected to a communication network of the vehicle, in particular to a vehicle bus, and configured to receive communication data, in particular sensor data, via the communication network and to detect the driving situation of the vehicle on the basis of the received communication data.

For example, the speed, acceleration and position of the vehicle are each detected by one of the vehicle sensors and transmitted to the processor via the communication network 101 sent out. The position of the vehicle is detected, for example, by a GNSS sensor of a navigation device of the vehicle and communication technology, in particular via the communication network to the processor 101 transmitted.

The processor 101 Furthermore, it may itself be configured to generate V2X communication data on the basis of the detected driving situation of the vehicle, wherein the V2X communication data define the driving situation of the vehicle. The processor 101 can be formed, the communication interface 103 to control the transmission of the generated V2X communication data, for example to communicate the driving situation of the vehicle to other vehicles with a V2X communication system.

To determine the lane change recommendation, the processor 101 be formed on the basis of the detected driving situation of the vehicle and the driving situation of the other vehicle to determine a probable change in distance of the vehicle and the other vehicle. The processor 101 may also be configured to determine the lane change recommendation on the basis of the probable change in distance.

The processor 101 can be formed, on the basis of the determined change in the distance of the vehicle and the other vehicle to determine a conflict probability between the vehicle and the other vehicle in the lane change of the vehicle to the adjacent lane.

The determined conflict probability may indicate the probability of a conflict between the vehicle and the further vehicle. A conflict between the vehicle and the other vehicle may be present if the distance between the vehicle and the further vehicle during the lane change of the vehicle falls below a distance threshold value, in particular if the vehicle is next to the other vehicle when changing lanes. The distance threshold may be speed dependent.

The processor 101 can be configured to generate the lane change recommendation if the conflict probability falls below a threshold value and / or generates a warning message, if the conflict probability exceeds the threshold.

The threshold can be 0% or nearly 0%. In other words: the processor 101 can be configured to generate a lane change recommendation only if a conflict with the other vehicle is excluded.

2a shows a schematic representation of the vehicle 200 with the driver assistance system 100 out 1 in a traffic situation according to an embodiment.

The vehicle 200 moves in 2a in the lane 201 , In front of the vehicle 200 there is a vehicle in front 207 on the same lane 201 ,

To overtake the preceding vehicle 207 , the vehicle changes 200 in 2a on the adjacent lane 203 on which the further vehicle 205 emotional. In 2a is the adjacent lane 203 a lane with a same direction of travel, so I the vehicle 200 and the other vehicle 205 , which is in the direction of travel behind the vehicle 200 is moving in the same direction (multi-lane road).

2 B shows a schematic representation of a vehicle 200 with the driver assistance system 100 out 1 in a further traffic situation according to an embodiment.

In the traffic situation in 2 B is the adjacent lane 203 an oncoming lane on which the other vehicle 205 the vehicle 200 with emotion. To overtake the preceding vehicle 207 , the vehicle changes 200 in 2 B on the opposite lane 203 ,

The preceding vehicle 207 can like the vehicle 200 and the other vehicle 205 a motor vehicle, in particular a multi-lane motor vehicle such as a passenger car (PKW), a truck (truck) or a bus, or a single-lane motor vehicle such as a motorcycle. Furthermore, the preceding vehicle 207 be designed for autonomous or highly automated movement. The preceding vehicle 207 can be equipped with a V2X communication system via which periodic V2X communication data is transmitted. The transmitted V2X communication data can each contain information about the current driving situation of the vehicle ahead 207 include.

The processor 101 may be formed based on the driving situation of the vehicle 200 and the other vehicle 205 , in particular the respective directions of movement of the vehicle 200 and the other vehicle 205 to detect if it is at the other lane 203 around a lane with the same direction of travel (multi-lane road), as in 2a , or an oncoming lane, as in 2 B , acts.

The processor 101 of the driver assistance system 100 can in the respective traffic situations, which in 2a and 2 B are shown, be formed, the driving situation, in particular position and driving dynamics information, the other vehicles 205 . 207 capture. Thus, the preceding, following and / or oncoming traffic participants 205 . 207 as well as their current movements to the processor 101 be known.

In one embodiment, the processor is 101 trained, the lane change by the vehicle 200 For example, when starting an overtaking maneuver, by extrapolation the future positions of the own vehicle 200 as well as the other vehicles 205 . 207 to investigate. In the estimation of the future position of the own vehicle 200 can the processor 101 consider a usual acceleration (parameterizable). Furthermore, the processor can 101 a moderate delay (also parameterizable) of the other vehicle 205 take into account, especially if the other vehicle 205 , as in 2a in the same direction as your own vehicle 200 moved (multi-lane road).

In one embodiment, the processor is 101 formed on the basis of the future position of the vehicles 200 . 205 . 207 to detect if the lane change a conflict between the vehicle 200 and the other vehicle 205 and / or the preceding vehicle 207 arises. If no conflict is expected, this can be indicated to the driver, for example by means of a corresponding indication in the display 105 , However, a conflict, for example, with the other vehicle 205 expected, so this can also be displayed to the driver, for example by means of a warning message in the display 105 or by means of an acoustic warning signal.

In one embodiment, the processor is 101 designed to determine a waiting time in case of detecting a conflict, wherein the waiting time indicates how long to wait until a lane change is possible again, for example until the other vehicle 205 the preceding vehicle 207 happened. The ad 105 may be configured to indicate to the driver this waiting time. It can be several consecutive vehicles on the adjacent lane 203 be taken into account.

In one embodiment, the processor is 101 designed to determine a speed at which the passing of the other vehicle 205 can be waited without a conflict, for example, with the vehicle in front 207 arises. The processor 101 may be configured, the speed based on the distance and the relative driving dynamics to the vehicle in front 207 to investigate. It can be several consecutive vehicles on the adjacent lane 203 be taken into account.

In one embodiment, the processor is 101 designed, in case of detecting a conflict, an acceleration to overtake the preceding vehicle 207 to determine where no conflict with the other vehicle 205 more would exist. Based on this determined acceleration, the processor 101 further determine a target speed. The maximum permissible speed as well as the possible / usual acceleration of the vehicle can be used 200 be taken into account. In addition, the position and relative driving dynamics of the vehicle ahead can 207 be taken into account. If the processor 101 If a conflict-free scenario is detected, the driver can be informed that overtaking is only possible if at least this speed is maintained.

3 shows a method 300 to assist a lane change of a vehicle 200 from a lane 201 on an adjacent lane 203 according to one embodiment.

The procedure 300 includes the following steps: Capture 301 a driving situation of the vehicle 200 , Receiving 303 V2X communication data from another vehicle 205 on the adjacent lane 203 , wherein the V2X communication data of the other vehicle 205 a driving situation of the other vehicle 205 define, and determine 305 the lane change recommendation for the vehicle 200 to change from the lane 201 on the adjacent lane 203 based on the detected driving situation of the vehicle 200 and the driving situation of the other vehicle 205 ,

LIST OF REFERENCE NUMBERS

100

 Driver assistance system

101

 processor

103

 Communication Interface

105

 display

200

 vehicle

201

 lane

203

 adjacent lane

205

 another vehicle

207

 preceding vehicle

300

 Method for supporting a lane change of a vehicle

301

 To capture

303

 Receive

305

 Determine

Claims (15)

Driver assistance system ( 100 ) for a vehicle ( 200 ) to assist a lane change of the vehicle ( 200 ) from a lane ( 201 ) to an adjacent lane ( 203 ), with: a processor ( 101 ), which is configured, a driving situation of the vehicle ( 200 ) capture; and a communication interface ( 103 ), which is formed, V2X communication data of another vehicle ( 205 ) on the adjacent lane ( 203 ), wherein the V2X communication data of the further vehicle ( 205 ) a driving situation of the further vehicle ( 205 define); the processor ( 101 ) is formed on the basis of the driving situation of the vehicle ( 200 ) and the driving situation of the further vehicle ( 205 ) a lane change recommendation for changing from the lane ( 201 ) to the adjacent lane ( 203 ) for the vehicle ( 200 ) to investigate. Driver assistance system ( 100 ) according to one of the preceding claims, wherein the detected driving situation of the vehicle ( 200 ) and the driving situation of the further vehicle ( 205 ) a speed, an acceleration, a position, a direction of movement and / or an extent of the vehicle ( 200 ) or of the further vehicle ( 205 ). Driver assistance system ( 100 ) according to claim 1 or 2, wherein the processor ( 101 ) is formed on the basis of the detected driving situation of the vehicle ( 200 ) and the driving situation of the further vehicle ( 205 ) an expected change in the distance of the vehicle ( 200 ) and the other vehicle ( 205 ), the processor ( 101 ) is adapted to determine the lane change recommendation on the basis of the probable change in distance. Driver assistance system ( 100 ) according to claim 3, wherein the processor ( 101 ) is formed on the basis of the determined change in the distance of the vehicle ( 200 ) and the other vehicle ( 205 ) a conflict probability between the vehicle ( 200 ) and the other vehicle ( 205 ), in the lane change of the vehicle ( 200 ) to the adjacent lane ( 203 ), to investigate. Driver assistance system ( 100 ) according to one of the claims 4, wherein the processor ( 101 ) is configured to generate the lane change recommendation when the conflict probability falls below a threshold value. Driver assistance system ( 100 ) according to claim 4 or 5, wherein the processor ( 101 ), an acceleration recommendation on the basis of the probable change in the distance of the vehicle ( 200 ) and the other vehicle ( 205 ), where the acceleration recommendation is an acceleration of the vehicle ( 200 ) defined during the lane change and / or immediately after the lane change, in which the conflict probability falls below the threshold. Driver assistance system ( 100 ) according to one of claims 4 to 6, wherein the processor ( 101 ) is configured, in response to the determination of a conflict probability, which is greater than the threshold value, on the basis of the respective driving situation of the vehicle ( 200 ) and the other vehicle ( 205 ), in particular a respective speed of the vehicle ( 200 ) and the other vehicle ( 205 ), to determine a waiting time, wherein the waiting time defines a probable time interval, after the expiration of which the conflict probability falls below the threshold value again. Driver assistance system ( 100 ) according to one of the preceding claims, wherein the vehicle ( 200 ), in particular before the lane change, behind a preceding vehicle ( 207 ) on the lane ( 201 ), the communication interface ( 103 ), V2X communication data of the preceding vehicle ( 207 ), wherein the V2X communication data of the preceding vehicle ( 207 ) a driving situation of the preceding vehicle ( 207 ), the processor ( 101 ) is formed, the driving situation of the preceding vehicle ( 207 ) when determining the lane change recommendation. Driver assistance system ( 100 ) according to claim 7 and 8, wherein the processor ( 101 ) is configured, in response to the determination of a conflict probability, which is greater than the threshold value, on the basis of the detected driving situation of the vehicle ( 200 ) and the driving situation of the preceding vehicle ( 207 ), a speed recommendation for the vehicle ( 200 ), in particular conflict-free sequences, of the preceding vehicle ( 207 ) during the waiting period. Driver assistance system ( 100 ) according to claim 8 or 9, wherein the lane change of the vehicle ( 200 ) to the adjacent lane ( 203 ) in the context of overtaking the preceding vehicle ( 207 ), wherein the processor ( 101 ) is formed on the basis of the driving situation of the vehicle ( 200 ) and the driving situation of the preceding vehicle ( 207 ) a length of a passing distance for overtaking the preceding vehicle ( 207 ), whereby the processor ( 101 ) is further adapted to take into account the length of the overhaul in the determination of the lane change recommendation. Driver assistance system ( 100 ) according to one of the preceding claims, wherein the driver assistance system ( 100 ) an ad ( 105 ), for displaying the lane change recommendation. Driver assistance system ( 100 ) according to any one of the preceding claims, wherein the processor ( 101 ) to a communication network of the vehicle ( 200 ), in particular to a vehicle bus, can be connected, wherein the processor ( 101 ) is adapted to receive communication data, in particular sensor data, via the communication network and the driving situation of the vehicle ( 200 ) on the basis of the received communication data. Driver assistance system ( 100 ) according to any one of the preceding claims, wherein the processor ( 101 ), V2X communication data based on the detected driving situation of the vehicle ( 200 ), wherein the V2X communication data the driving situation of the vehicle ( 200 ), the processor ( 101 ), the communication interface ( 103 ) to send the generated V2X communication data. Procedure ( 300 ) to assist a lane change of a vehicle ( 200 ) from a lane ( 201 ) to an adjacent lane ( 203 ), with: Capture ( 301 ) a driving situation of the vehicle ( 200 ); Receive ( 303 ) of V2X communication data of another vehicle ( 200 ) on the adjacent lane ( 203 ), wherein the V2X communication data of the further vehicle ( 205 ) a driving situation of the further vehicle ( 205 define); Determine ( 305 ) the lane change recommendation for the vehicle ( 200 ) to change from the lane ( 201 ) to the adjacent lane ( 203 ) based on the detected driving situation of the vehicle ( 200 ) and the driving situation of the further vehicle ( 205 ). Vehicle ( 200 ), in particular motor vehicle, with a driver assistance system ( 100 ) according to one of claims 1 to 13.

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